Haiyun Zhang — accepted AI-conference papers

2026

Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation

Haiyun Zhang, Stefano Dalla Gasperina, Saad N. Yousaf, Job D. Ramirez, Toshimitsu Tsuboi, Tetsuya Narita +1

RA-L 2026

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These issues lead to kinematic misalignments that degrade tracking

Cited by 1 Source ↗Scholar ↗

2022

Incrementally Stochastic and Accelerated Gradient Information Mixed Optimization for Manipulator Motion Planning

Yichang Feng, Jin Wang, Haiyun Zhang, Guodong Lu

RA-L 2022

This paper introduces a novel motion planner, incrementally stochastic and accelerated gradient information mixed optimization (iSAGO), for robotic manipulators in a narrow workspace. Primarily, we propose the overall scheme of iSAGO informed by the mixed momenta for an efficient constrained optimiz

Cited by 7 Source ↗Scholar ↗